WPILibC++  2019.3.1
frc::Gyro Class Referenceabstract

Interface for yaw rate gyros. More...

#include <Gyro.h>

Inheritance diagram for frc::Gyro:

Public Member Functions

Gyro (Gyro &&)=default

Gyrooperator= (Gyro &&)=default

virtual void Calibrate ()=0
Calibrate the gyro by running for a number of samples and computing the center value. More...

virtual void Reset ()=0
Reset the gyro. More...

virtual double GetAngle () const =0
Return the actual angle in degrees that the robot is currently facing. More...

virtual double GetRate () const =0
Return the rate of rotation of the gyro. More...

Detailed Description

Interface for yaw rate gyros.

Member Function Documentation

 virtual void frc::Gyro::Calibrate ( )
pure virtual

Calibrate the gyro by running for a number of samples and computing the center value.

Then use the center value as the Accumulator center value for subsequent measurements. It's important to make sure that the robot is not moving while the centering calculations are in progress, this is typically done when the robot is first turned on while it's sitting at rest before the competition starts.

 virtual double frc::Gyro::GetAngle ( ) const
pure virtual

Return the actual angle in degrees that the robot is currently facing.

The angle is based on the current accumulator value corrected by the oversampling rate, the gyro type and the A/D calibration values. The angle is continuous, that is it will continue from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

The angle is expected to increase as the gyro turns clockwise when looked at from the top. It needs to follow NED axis conventions in order to work properly with dependent control loops.

Returns
the current heading of the robot in degrees. This heading is based on integration of the returned rate from the gyro.

 virtual double frc::Gyro::GetRate ( ) const
pure virtual

Return the rate of rotation of the gyro.

The rate is based on the most recent reading of the gyro analog value.

The rate is expected to be positive as the gyro turns clockwise when looked at from the top. It needs to follow NED axis conventions in order to work properly with dependent control loops.

Returns
the current rate in degrees per second